JP6714261B2 - Underwater detection device, underwater detection method, and underwater detection program - Google Patents

Description

The present invention relates to an underwater detection device, an underwater detection method, and an underwater detection program that transmit an ultrasonic signal in water and acquire information on an underwater moving object from an echo signal.

Conventionally, an echogram as shown in FIG. 6 of Patent Document 1 is known as a display example of an underwater detection device.

Patent Document 2 discloses a mode in which a mark corresponding to a fish reef position is displayed on a nautical chart as an example of a display screen of a fish reef information database. Further, in Patent Document 2, when the user performs an operation of selecting each mark, information indicating details of the fish reef, a video image taken underwater, and the like are displayed.

JP, 2015-87328, A JP 2008-178325A

It is important for fishermen, etc. to obtain information on the speed and moving direction of resources (underwater moving bodies such as fish).

However, it is difficult to grasp the speed, moving direction, and the like of the underwater moving body by displaying the echogram as shown in Patent Document 1.

Further, in a video image taken underwater as shown in Patent Document 2, it is not possible to know the existence of an underwater moving object outside the shooting range, and it is also difficult to grasp the speed and moving direction of the underwater moving object. Is.

It is an object of the present invention to provide an underwater detection device capable of displaying information that has not been obtained in the past.

The underwater detection device of the present invention transmits and receives an ultrasonic signal to the water, and a transmitting/receiving unit that receives an echo signal from the water by the ultrasonic signal, and an underwater moving body that detects individual information about the underwater moving body from the echo signal. A detection unit, an information calculation unit that calculates information including information about the moving speed of the underwater moving body based on the individual information, and a display process that displays the information about the moving speed calculated by the information calculating unit as a vector. And a section.

As described above, the underwater detection device first individually detects, for example, the presence and position of the underwater moving body as individual information regarding the underwater moving body. In order to individually detect the underwater moving bodies, for example, an SSBL (Super Short Baseline) method using a known split beam is used. By using this SSBL method, a single underwater moving object can be detected with high resolution. Therefore, the underwater detection device measures the position of a single fish, not the unit of a school of fish in which a plurality of fish swarms. Then, the underwater detection device calculates information regarding the moving speed of the underwater moving body from the detected individual information. Information on the calculated moving speed of the underwater vehicle is displayed by the display processing unit. In this way, since the underwater detection device calculates information on the moving speed based on the position of each single fish, not on the unit of a group (fish group) in which a plurality of underwater moving bodies swarm, the accurate speed of the underwater moving body is calculated. , And the moving direction can be calculated. Therefore, the user can grasp the accurate speed and moving direction of the underwater vehicle.

According to the present invention, it is possible to display information that could not be obtained conventionally.

It is a block diagram which shows the structure of the underwater detection apparatus 1 which concerns on embodiment of this invention. It is a figure which shows the processing flow of an underwater detection apparatus. It is a figure for demonstrating the concept of detection of an attitude angle. It is a figure for demonstrating the detection concept of an inclination angle and an incident angle. It is a figure which shows the setting concept of an incident angle. It is a figure which shows the example of the incident angle characteristic of reflection intensity TS. It is a figure which shows the example of the template characteristic (normalization characteristic curve) of the attitude|position angle of reflection intensity TS for every fish species. FIG. 6 is a diagram showing an example of information displayed on a display device 20. It is a figure which shows the example at the time of displaying information three-dimensionally. It is a figure which shows the example which further displays an average fish length. It is a figure which shows the example which displays information with an echogram. It is a figure which shows the example which displays information two-dimensionally with an echogram. It is a figure which shows the example which displays information on a map. It is a figure which shows the example which displays information on a map two-dimensionally.

FIG. 1 is a block diagram showing the configuration of the underwater detection apparatus 1. The underwater detection device 1 includes a wave transmitter/receiver 10, a transmission unit 11, a transmission/reception switching device 121, a transmission/reception switching device 122, a transmission/reception switching device 123, a transmission/reception switching device 124, a reception unit 13, an arithmetic processing unit 14, a storage unit 15, and an operation unit. 16, a position detector 17, and a display 20.

The wave transmitter/receiver 10 is fixed to the bottom of a ship or the like. The transmitter/receiver 10 transmits ultrasonic waves to the water based on the transmission signal given from the transmitter 11 via the transmission/reception switch 121, the transmission/reception switch 122, the transmission/reception switch 123, or the transmission/reception switch 124.

The transmitter/receiver 10 receives an echo obtained by reflecting an ultrasonic wave on an underwater moving body such as a fish Fi in water, and outputs an echo signal. The echo signal is input to the reception unit 13 via the transmission/reception switch 121, the transmission/reception switch 122, the transmission/reception switch 123, or the transmission/reception switch 124, respectively.

The wave transmitter/receiver 10 is formed by integrating a required number of vibrators (not shown) in a bundle. These vibrators have respective vibrating surfaces arranged on the same plane in a predetermined pattern. The wave transmitter/receiver 10 has a wave transmitting/receiving surface divided into four in the circumferential direction. Each division plane is set as a channel CH1, a channel CH2, a channel CH3, and a channel CH4, respectively.

The channels CH1, CH2, CH3, and CH4 have common directional characteristics. For example, channel CH1, channel CH2, channel CH3, and channel CH4 have a directivity width of 7°.

The wave transmitter/receiver 10 transmits ultrasonic waves from the entire wave transmitting/receiving surface with a predetermined directivity. The wave transmitter/receiver 10 receives the echoes of the fish Fi on the channels CH1, CH2, CH3, and CH4, respectively.

Regarding the relationship between the channel CH1, the channel CH2, the channel CH3, and the channel CH4 and the ship bearing, the channels CH1 and CH4 are on the bow side, the channels CH2 and CH3 are on the stern side, and further, The channels CH1 and CH2 are on the starboard side, and the channels CH3 and CH4 are on the port side.

As a result, the transmitter/receiver 10 can receive echoes in the bow direction and the stern direction within the directional width by the group of the channels CH1 and CH4 and the group of the channels CH2 and CH3. In addition, the transmitter/receiver 10 is capable of receiving echoes from the starboard and port directions by the combination of the channel CH1 and the channel CH2 and the combination of the channel CH3 and the channel CH4.

The transmitter 11 generates an FM (frequency modulation) transmission signal. The transmission unit 11 generates a transmission signal by chirping the frequency within a predetermined range in a predetermined transmission time width (for example, a time width of several tens of microseconds). For example, the transmitter 11 has a center frequency of 100 KHz, a lowest low frequency of 70 KHz, and a highest frequency of 130 KHz, and generates a transmission signal that chirps from the lowest frequency to the highest frequency. The transmission unit 11 outputs such a transmission signal to each of the transmission/reception switching device 121, the transmission/reception switching device 122, the transmission/reception switching device 123, and the transmission/reception switching device 124.

The transmission/reception switching device 121, the transmission/reception switching device 122, the transmission/reception switching device 123, and the transmission/reception switching device 124 are connected to the transducers forming the channels CH1, CH2, CH3, and CH4 of the wave transceiver 10. ..

The transmission/reception switching device 121, the transmission/reception switching device 122, the transmission/reception switching device 123, and the transmission/reception switching device 124 output the transmission signal input from the transmission unit 11 to the transceiver 10. Further, the transmission/reception switching device 121, the transmission/reception switching device 122, the transmission/reception switching device 123, and the transmission/reception switching device 124 send the echo signals of the channel CH1, the channel CH2, the channel CH3, and the channel CH4 of the transceiver 10 to the receiving unit 13. Output.

The receiver 13 includes an LNA or the like, amplifies the echo signal of each channel with a predetermined gain, and generates an echo signal for each channel. The echo signal for each channel is input to the arithmetic processing unit 14.

The arithmetic processing unit 14 is composed of a computer. The arithmetic processing unit 14 functions as the single fish detection unit 141, the information calculation unit 142, and the display processing unit 143 by reading and executing the control program recorded in the storage unit 15. FIG. 2 is a flowchart showing the operation of the underwater detection device 1.

First, as described above, the ultrasonic signal is transmitted and the echo signal is received (S100). Next, the single fish detection unit (underwater moving body detection unit) 141 detects the single fish from the echo signal input from the reception unit 13 (S101).

First, the single fish detection unit 141 acquires echo data which is intensity data discretized in the depth direction (time direction) by sampling each echo signal at a predetermined sampling period.

Next, the single fish detection unit 141 determines that the echo data arranged at each transmission timing (every PING) has a reflection intensity of a predetermined threshold value or more, for example, as a reflection echo from the fish Fi. When the single fish detection unit 141 determines that the echo is a reflected echo from the fish Fi, the single fish detection unit 141 stores the echo data of each channel CH1, channel CH2, channel CH3, and channel CH4 in the storage unit 15 as single fish data.

Then, the single fish detection unit 141 detects the position of each fish Fi (single fish) by using the SSBL (Super Short Baseline) method using a known split beam (S102). In the SSBL method, the single fish detecting unit 141 uses the single fish data of each channel to generate echo data on the bow side (force) side, the stern (aft) side, the starboard side, and the port side. To do. Then, the single fish detection unit 141 obtains the arrival angle (azimuth information) of the single fish from the time difference (or phase difference) from the transmission of the ultrasonic waves to the arrival of the fish Fi in each echo data. The single fish detection unit 141 obtains the three-dimensional position information of the single fish from the azimuth information thus obtained and the timing at which the reflection echo of the fish Fi is received. Note that the calculation of the azimuth information is performed on all the detected single fish.

The calculated three-dimensional position information is paired with the detected individual fish information (identification information of each individual fish, etc.) and stored in the storage unit 15 as individual information. In this way, the single fish detection unit 141 measures the position of the single fish, not the unit of the fish group in which a plurality of fish swarms. Such single fish detection and position detection processing is executed at every predetermined observation timing (for example, every 1 Ping).

Next, the single fish detection unit 141 calculates the movement vector (speed and posture angle) of each single fish as information on the moving speed (information including speed and moving direction). Further, the single fish detection unit 141 calculates information such as the fish type and the fish length.

The single fish detection unit 141 reads out the three-dimensional position information of each single fish from the storage unit 15 and tracks the position of each single fish. Specifically, as shown in FIG. 3, the single fish detection unit 141, based on the echo data of each channel CH1, channel CH2, channel CH3, and channel CH4, the three-dimensional coordinates of the fish Fi at a predetermined timing n. Calculate x(n), y(n), z(n).

The three-dimensional coordinates used here are the x axis with the direction from the stern (aft) side to the bow (force) side as the positive direction, and the direction from the port side (port) side to the starboard side (starboard) side as the positive direction. It is a coordinate system defined by the y-axis and the z-axis with the positive direction in the direction from the bottom surface of the transducer 10 to the seabed (depth direction).

The single fish detection unit 141 uses the center of the bottom surface of the transducer 10 as a starting point (origin) and ends with the positions x(n), y(n), and z(n) of the fish Fi as the single fish position vector Vvs( n)={x(n), y(n), z(n)} is acquired.

The single fish detection unit 141 acquires the single fish position vector Vvs(n-1) at timing n-1 which is a predetermined time before the timing n at which the single fish position vector Vvs(n) is acquired, and the single fish position at the timing n. From the vector Vvs(n), the movement vector Vvfish(n) of the single fish Fi is calculated from Equation 1 which is the following vector operation equation. The intervals of each timing are appropriately set according to the ultrasonic signal transmission interval (Ping interval), the speed of each fish type, or the like.

Vvfish(n)=Vvs(n)-Vvs(n-1)-(Equation 1)
The movement vector can be calculated more accurately by taking the difference from the movement vector of the own ship or the vector of the tidal current. The movement vector of the own ship can be calculated based on the position (latitude and longitude) information of the own ship input from the position detection unit 17. The tidal current vector can be calculated by providing a tidal current meter. Further, by providing a hull swing sensor or the like, it is possible to compensate for a position change due to swing.

Then, the single fish detecting unit 141 calculates the speed and the posture angle θp of the single fish based on the movement vector Vvfish(n).

The posture angle θp is calculated from Equation 2 below, which is a vector calculation equation, based on the movement vector Vvfish(n) of the single fish.

The posture angle θp is 0° when the single fish exists near the wave transmitter/receiver 10 and the single fish moves horizontally with respect to the wave transmission/reception surface of the wave transmitter/receiver 10. Further, the posture angle θp is the same as the incident angle θc of the ultrasonic waves when the single fish is located immediately below the transducer 10. Therefore, the information calculation unit 142 calculates the posture angle θp as the incident angle θc when the single fish exists in the vicinity immediately below the transducer 10.

However, if the position of the single fish is not within the predetermined range right below the wave transmitter/receiver 10, the single fish detection unit 141 calculates the incident angle θc by the following method.

First, the single fish detecting unit 141 has a tilt angle θt (see FIG. 4) which is an angle formed by a direction in which the ultrasonic signal transmitted from the wave transmitter/receiver 10 is irradiated to the target single fish Fi and a moving direction of the single fish. ) Is calculated.

As shown in FIG. 4, the tilt angle θt is an angle formed by the single fish position vector Vvs(n) and the movement vector Vvfish(n) of the single fish, and can be calculated from the following Expression 3.

In Equation 3, the black dot mark means the inner product of the vectors.

On the other hand, as shown in FIG. 5, the incident angle θc is θc=0° when the incident angle θc is incident from the direction orthogonal to the back of the single fish Fi, and the inclination angle θt and the incident angle θc have the following relationship.

θc=θt−π/2 [rad]
Therefore, the incident angle θc can be calculated from the following Expression 4.

As described above, the single fish detecting unit 141 can output the incident angle θc of the detected single fish Fi even when the position of the single fish Fi is outside the predetermined range right below the transducer 10. ..

In addition, the single fish detection unit 141 performs the fish species determination based on the information on the incident angle θc and the reflection intensity TS (Target Strength). First, the single fish detection unit 141 calculates the reflection intensity TS of the single fish. The single fish detection unit 141 calculates the reflection intensity TS using specific representative echo data among the echo data forming the single fish. For example, the single fish detection unit 141 calculates the reflection intensity TS using the maximum value of the echo amplitude waveform of the single fish.

FIG. 6 is a diagram showing an example of the incident angle characteristic of the reflection intensity TS. In FIG. 6, a circle mark in the drawing indicates the maximum value of each incident angle bin, and a cross mark in the drawing indicates the reflection intensity TS excluding the maximum value. The maximum values of the incident angle bins are not all displayed, and some of them are not shown in order to make the features of the present invention easy to understand.

The single fish detection unit 141 sets an incident angle range (from -30° to +30° in the example of FIG. 6) for fish species determination, and sets the incident angle range by dividing it into a plurality of incident angle bins. .. For example, the single fish detecting unit 141 divides and sets the incident angle range from −30° to +30° with the incident angle bin having an angle width of 2°.

The single fish detecting unit 141 classifies the acquired reflection intensity TS of each single fish for each incident angle bin. The single fish detecting unit 141 detects the maximum value of the reflection intensity TS for each incident angle bin.

The single fish detecting unit 141 estimates and calculates the incident angle characteristic curve of the reflection intensity as shown by the thick solid line in FIG. 6 from the maximum value of each incident angle bin. At this time, for example, the single fish detection unit 141 preferably estimates and calculates the incident angle characteristic curve by performing a fitting process on the maximum value of each incident angle bin by a predetermined function.

The single fish detection unit 141 compares the estimated and calculated incident angle characteristic curve with the template characteristic curve of the incident angle of the reflection intensity TS for each fish species as shown in FIG. 7. FIG. 7 is a diagram showing an example of a template characteristic curve (normalized characteristic curve) of the incident angle of the reflection intensity TS for each fish species.

As shown in FIG. 7, the incident angle characteristic of the reflection intensity TS has a characteristic for each fish species. For example, in the case of horse mackerel, the characteristic has a gentle maximum on the negative incident angle side with respect to the incident angle of 0°. In addition, in the case of mackerel, the characteristic has a steep maximum on the negative incident angle side close to the incident angle of 0°. Further, in the case of tie, although there is some maximum between the incident angle of −30° and +30°, the characteristic is flat as a whole as compared with horse mackerel and mackerel. The incident angle characteristics of the reflection intensity TS of these horse mackerel, mackerel, and Thailand are the same as the above ultrasonic signals transmitted to the cages of horse mackerel, mackerel, and Thailand for single fish detection, incident angle detection, and reflection intensity TS. This is a characteristic that is calculated by obtaining the maximum value of the reflection intensity TS for each incident angle.

The single fish detection unit 141 normalizes the calculated incident angle characteristic curve, calculates the degree of similarity between the normalized incident angle characteristic curve and the template characteristic curve shown in FIG. 7, and determines the fish species.

Then, the single fish detection unit 141 determines the selected fish species as the detected single fish. For example, when the incident angle characteristic curve of FIG. 6 is obtained, the detected single fish is determined to be “horse mackerel”.

Further, the single fish detecting unit 141 calculates the fish length L from the relational expression between the reflection intensity TS and the fish length L shown in the following Expression 5.

TS=20logL+20logA (Formula 5)
The coefficient A has a corresponding value determined depending on the frequency of the ultrasonic signal, the fish species, the sea area, the depth, the time, the water temperature, and the like. A table showing the relationship between the coefficient A and each value is stored in the storage unit 15.

As described above, the individual fish detection unit 141 calculates the individual information such as the three-dimensional position information of each individual fish, the movement vector, the fish species, and the fish length, and stores the individual information in the storage unit 15.

Then, the information calculation unit 142 reads the individual information from the storage unit 15 and calculates the information to be displayed on the display device 20. The calculated information is, for example, the number of fish for each fish species, the average movement vector, or the average fish length. The number N of fish is calculated by the following equation 6 by using the volume scattering intensity SV, for example.

SV=TS+10logN (Formula 6)
The information calculation unit 142 determines that the single fish that are the same fish species and that exist in the area within the predetermined range are the same fish group, and determine the number of fish in the same fish group, the average movement vector, or You may find the average fish length. In addition, the information calculation unit 142 may obtain the number of fish, the average movement vector, or the average fish length for each predetermined depth range (for example, near the depth of 25 m, near the depth of 50 m, and near the depth of 75 m).

The display processing unit 143 outputs the information calculated by the information calculation unit 142 as described above (information such as the average movement vector, the number of fish, the fish species, or the average fish length) to the display processing unit 143.

FIG. 8A is a diagram showing an example of information displayed on the display device 20. In the example shown in FIG. 8A, the average movement vector of each fish species is represented by an arrow in a two-dimensional plane centered on the position of the ship at a predetermined observation timing. That is, the information regarding the moving speed is displayed as a vector. Further, each arrow is color-coded for each fish species. A numerical value indicating the number of fish is displayed on each arrow.

In this way, since the calculated number of fish, movement vector, and fish species are displayed on the display 20, the user can accurately grasp the accurate amount, speed, movement direction, etc. of fish. it can.

FIG. 8B is a diagram showing an example of displaying the number of fishes and the movement vector for each depth instead of the fish species. In this case, the user can accurately grasp the accurate amount, speed, moving direction, etc. of the fish for each depth.

Next, FIG. 9A is a diagram showing an example of a case where information is three-dimensionally displayed. The upper surface side of the cylinder shown in the figure represents the water surface side, and the bottom surface side represents the seabed side. In this case, the size of the circle at each depth indicates the number of fish. Therefore, the user can easily understand which fish species exist, how many, and in what direction and at what speed, depending on the depth. Further, the number of fishes by depth may be displayed in a bar graph as shown in FIG. 9B instead of the size of the circle.

FIG. 10 is a diagram showing an example of further displaying the average fish length. In this example, a line drawing corresponding to the average fish length is displayed in the arrow indicating the movement vector of each fish species. As a result, the user can easily understand how many fish species of which size are present and in what direction they are moving according to the depth.

FIG. 11 is a diagram showing an example of displaying information together with an echogram. In the echogram 201, the vertical direction corresponds to the depth and the horizontal direction corresponds to Ping. In the echogram 201, echo images (for example, the echo image 202A, the echo image 203A, the echo image 204A, and the echo image 204A) corresponding to the intensity of the echo data are displayed. The echo image in the latest Ping 210 is displayed on the right side in the echogram 201.

Then, in this example, the information is three-dimensionally displayed corresponding to each depth of the echogram 201. As described above, the upper surface side of the cylinder showing the information represents the water surface side, and the bottom surface side represents the seabed side. In this case, the arrow at each depth indicates the movement vector, and the color of the arrow indicates the fish species. A line drawing showing the fish length is displayed on each arrow. The size of the circle indicates the number of fish. The information is displayed at a position corresponding to the position on the echogram where the fish is detected. In this example, the information corresponds to the calculation result in the latest Ping 210. However, for example, when the user operates the operation unit 16 and selects an arbitrary Ping in the echogram 201, the calculation result in the selected Ping can be displayed. The information calculation unit 142 can also calculate information by averaging the calculation results of a plurality of Pings. In this case, the user selects a predetermined range within the echogram 201. The information calculation unit 142 reads out the individual information within the selected range and calculates the information. The display control unit 143 displays the calculated information together with the echogram 201.

In this example, the information corresponding to the echo image 202A is the arrow image 202B, the information corresponding to the echo image 203A is the arrow image 203B, and the information corresponding to the echo image 204A is the arrow image 204B. The information corresponding to the image 205A is the arrow image 205B.

Thereby, the user can easily recognize the relationship between the echo image displayed in the echogram 201 and the information. For example, the user can easily grasp the information on the fish species, the number of fish, the movement vector, and the fish length from the arrow image 202B corresponding to the echo image 202A displayed on the water surface side in the echogram 201. it can.

It was difficult for the user to grasp the number of fish, the speed, the moving direction, etc. only by displaying the fish school by the conventional echogram, but in the case of the example shown in FIG. While checking, it is possible to easily understand how many fish species of which size exist at each depth and in what direction they are moving.

Further, the information may be displayed in a two-dimensional plane together with the echogram 201 as shown in FIG. In this case, the information 207 is displayed as the calculation result in the latest Ping 210. The average movement vector of each fish species is represented by an arrow. Further, each arrow is color-coded for each fish species. A numerical value indicating the number of fish is displayed on each arrow. As described above, even when the information 207 is displayed in a two-dimensional plane, the user confirms the school of fish with the conventional echogram and confirms the number of fish species of each size at each depth. However, it is possible to easily grasp in which direction the movement is made.

Next, FIG. 13 is a diagram showing an example of displaying information on a nautical chart (map). In this example, a track 252 is displayed on the map screen 251, and a mark (reduced image of information) 253 is displayed corresponding to the position of the ship at each timing when the information is calculated. The track 252 is drawn on the map data according to the position (latitude and longitude) of the own ship detected by the position detection unit 17.

Then, when the user uses the operation unit 16 to select the mark 253 displayed at each point, the information 255 is displayed. Therefore, the user can easily understand at what position, how many fish species of which size exist at each depth, and in what direction they were moving.

Further, the information may be displayed in a two-dimensional plane on the nautical chart, as shown in FIG. Also in this case, the track 252 is displayed on the map screen 251, and the mark (reduced image of information) 253 is displayed in correspondence with the position of the ship at each timing when the information is calculated. When the user operates the operation unit 16 to select the mark 253 displayed at each point, the information 255A is displayed in a two-dimensional plane. The average movement vector of each fish species of information 255A is represented by an arrow. Further, each arrow is color-coded for each fish species. A numerical value indicating the number of fish is displayed on each arrow. Therefore, the user can easily understand at what position, how many fish species of which size exist at each depth, and in what direction they were moving.

In the present embodiment, an example in which a single fish is detected is shown, but the above-described configuration and processing can be applied to other underwater moving bodies. Further, in the present embodiment, the information calculated by the information calculation unit 142 indicates information such as the average movement vector, the number of fishes, the fish species, or the average fish length, but the movement vector of each single fish is also calculated. You may.

DESCRIPTION OF SYMBOLS 1... Underwater detection device 10... Transceiver 11... Transmitter 13... Receiving unit 14... Arithmetic processing unit 15... Storage unit 16... Operation unit 17... Position detecting unit 20... Display 121, 122, 123, 124 Vessel 141... Single fish detection unit 142... Information calculation unit 143... Display processing unit 201... Echogram 202A, 203A, 204A, 205A... Echo image 202B, 203B, 204B, 205B... Arrow image 210... Ping
251... Map screen 252... Wake 253... Mark 255... Information

Claims (8)

A transmitting/receiving unit that transmits an ultrasonic signal into the water and receives an echo signal from the water by the ultrasonic signal,
An underwater vehicle detection unit that detects individual information about the underwater vehicle from the echo signal,
An information calculation unit that calculates information including information on the moving speed of the underwater vehicle based on the individual information;
A display processing unit for displaying information on the moving speed calculated by the information calculating unit in vector,
Equipped with
The said display process part is an underwater detection apparatus which displays the said information on a map corresponding to the position of the own ship at each timing which acquired the said information . The underwater detection device according to claim 1, wherein
The underwater vehicle detection unit detects the depth of each underwater vehicle,
The information calculation unit calculates the information for each depth,
The display processing unit is an underwater detection device that displays the information for each depth. The underwater detection device according to claim 1 or 2, wherein
The information calculation unit calculates an average value of the sizes of a plurality of underwater vehicles,
The underwater detection device in which the display processing unit displays the average value as the information. The underwater detection device according to any one of claims 1 to 3,
A determination unit for determining the type of the underwater vehicle,
The underwater detection device in which the display processing unit displays the information including the type of the underwater vehicle. The underwater detection device according to any one of claims 1 to 4,
The underwater detection device, wherein the display processing unit displays the information together with an echogram at a position corresponding to a position on the echogram where the underwater moving body is detected. A underwater detection system according to any one of claims 1 to 5,
An underwater detection device in which the underwater vehicle is a fish. Transmit ultrasonic signals into the water,
Receiving an echo signal from the water by the ultrasonic signal,
Detects individual information about the underwater vehicle from the echo signal,
Based on the individual information, calculating information including information about the moving speed of the underwater moving body,
Vector display of the calculated information on the moving speed ,
Displaying the information on a map corresponding to the position of the own ship at each timing when the information is acquired,
Underwater detection method. On the computer,
A transmission/reception process of transmitting an ultrasonic signal into water and receiving an echo signal from the water by the ultrasonic signal,
Underwater moving body detection processing for detecting individual information about the underwater moving body from the echo signal,
An information calculation process for calculating information including information on the moving speed of the underwater moving body based on the individual information;
A display process for displaying information on the moving speed calculated by the information calculation process as a vector;
A program to be executed by the,
The display processing displays the information on a map corresponding to the position of the own ship at each timing when the information is acquired,
Program .

Images